열차자율주행제어시스템을 위한 간격제어와 차상중심 분산형 연동 알고리즘

오세찬(Sehchan Oh),김경희(Kyunghee Kim),최현영(Hyeonyeong Choi) 한국산학기술학회 2016 한국산학기술학회논문지 Vol.17 No.11

열차제어시스템은 지상·전기 중심에서 차상·통신 중심으로 변화하고 있다. 최신의 열차제어시스템인 CBTC 시스템은 차상과 지상시스템 간 양방향 무선통신을 기반으로 높은 간격제어 효율을 가진다. 하지만 지상이 제어의 중심이 되고 있기 때문에 하나의 지상시스템이 허용할 수 있는 열차 투입 대수가 제한되고 차상과 지상제어시스템 간 cyclic-path 제어흐름으로 인해 운전시격 단축에 한계를 가진다. 본 논문은 열차자율주행제어시스템을 위한 간격제어와 차상중심 분산형 연동 알고리즘을 제안한다. 열차자율주행제어시스템은 차상에서 간격제어와 함께 분기제어를 수행하므로 선로와 분기기는 공유자원인 동시에 세마포어 요소이다. 제안된 열차자율주행기반 간격제어는 지상 제어시스템의 제어명령에 의존하지 않고 열차와 열차 또는 선로변 설비와의 직접적인 무선통신을 통해 열차 간격제어를 수행한다. 제안된 연동 알고리즘은 공유자원인 선로전환기가 동시에 두 대 이상의 열차가 점유하지 못하도록 선로전환기 고유 key를 이용한 세마포어 기법을 새롭게 정의한다. 시뮬레이션을 통해 제안된 열차자율주행제어시스템의 향상된 간격제어 성능을 확인하며, 차상중심 분산형 연동알고리즘과 기존의 연동장치에서 수행하던 여러 연동논리를 비교함으로써 단순화된 연동알고리즘으로 안전한 열차제어가 가능함을 확인한다. Train control systems have changed from wayside electricity-centric to onboard communications-centric. The latest train control system, the CBTC system, has high efficiency for interval control based on two-way radio communications between the onboard and wayside systems. However, since the wayside system is the center of control, the number of input trains to allow a wayside system is limited, and due to the cyclic-path control flows between onboard and wayside systems, headway improvement is limited. In this paper, we propose a train interval-control and train-centric distributed interlocking algorithm for an autonomous train-driving control system. Because an autonomous train-driving control system performs interval and branch control onboard, both tracks and switches are shared resources as well as semaphore elements. The proposed autonomous train-driving control performs train interval control via direct communication between trains or between trains and track-side apparatus, instead of relying on control commands from ground control systems. The proposed interlocking algorithm newly defines the semaphore scheme using a unique key for the shared resource, and a switch that is not accessed at the same time by the interlocking system within each train. The simulated results show the proposed autonomous train-driving control system improves interval control performance, and safe train control is possible with a simplified interlocking algorithm by comparing the proposed train-centric distributed interlocking algorithm and various types of interlock logic performed in existing interlocking systems.

무선통신기반 열차제어시스템에서의 운전시격 계산과 간격제어 성능개선을 위한 열차간격제어 알고리즘

오세찬(Oh, Seh-Chan),김경희(Kim, Kyung-Hee),이성훈(Lee Seong-Hoon),김자영(Kim, Ja-Young),전종화(Quan, Zhong-Hua) 한국산학기술학회 2015 한국산학기술학회논문지 Vol.16 No.10

무선통신기반 열차제어시스템은 관할영역 내에 운행 중인 열차의 위치정보를 지상시스템에서 실시간으로 수신하고 다시 각각의 열차의 차상시스템에 새로운 이동권한을 제공함으로써 안전한 간격제어를 수행한다. 열차제어시스템의 성능은 최소 운전시격으로 평가되며 그것은 열차제어시스템의 간격제어 성능뿐만 아니라 운영특성 그리고 열차의 특성을 반영하여 계산된다. 본 논문은 무선통신기반 열차제어시스템의 운전시격 계산과 운전시격을 개선하기 위한 새로운 열차간격제어 알고 리즘을 제안한다. 제안된 운전시격 계산 방법은 열차제어시스템 간격제어 성능을 반영한 안전마진 추정을 통해 각각 역간 운전시격과 역 운전시격을 정의한다. 또한 제안된 열차간격제어 개선 알고리즘은 간격제어 개선을 위해 거리와 속도를 포함 하는 이동권한을 새롭게 정의하며 선행열차에서 필연적으로 발생하는 제동거리를 이용함으로써 열차의 운전시격을 향상시 킬 수 있다. 제안된 운전시격 계산방법을 한국형 무선통신기반 열차제어시스템의 간격제어 성능을 대상으로 시뮬레이션을 수행하며 개선된 열차간격제어 알고리즘과 비교분석 한다. 시뮬레이션 결과에 따르면 제안된 운전시격 계산방법은 향후 무 선통신기반 열차제어시스템의 성능 지표로 활용이 가능하며 제안된 간격제어 알고리즘은 기존의 무선통신기반 열차제어시 스템의 역 운전시격과 역간 운전시격을 개선할 수 있음을 확인한다. Radio based train control system performs train safe interval control by receiving in realtime the position information of trains driving in the control area of the wayside system and providing onboard system in each train with updated movement authority. The performance of the train control system is evaluated to calculate the minimum operation headway, which reflects the operation characteristics and the characteristics of the train as well as the interval control performance of the train control system. In this paper, we propose the operation headway calculation for radio based train control system and a new train interval control algorithm to improve the operation headway. The proposed headway calculation defines line headway and station headway by the estimation the safety margin distance reflecting the performance of the train control system. Furthermore the proposed Enhanced Train Interval Control(ETIC) algorithm defines a new movement authority including both distance and speed, and improves the train operation headway by using braking distance occurring inevitably in the preceding train. The proposed operation headway calculation is simulated with Korean Radio-based Train Control System(KRTCS) and the simulated result is compared to improved train interval control algorithm. According to the simulated results, the proposed operation headway calculation can be used as performance indicator for radio based train control system, and the improved train control algorithm can improve the line and station headway of the conventional radio based train control system.

Effect of Wrist Resistance Training on Motor Control and Strength in Young Males

( You Sin Kim ),( Dae Hoon Kim ) 한국운동역학회 2014 한국운동역학회지 Vol.24 No.3

The aim of the present study was to investigate the effects of 6-week wrist resistance training on wrist torque control. Nineteen subjects were randomly assigned to either the wrist training group (n=9) or the control group (n=10). The training group performed wrist exercises for six directions (flexion, extension, pronation, supination, radial deviation, and ulnar deviation) while the control group did not. Testing for the isometric torque control error, one-repetition maximum (1-RM) strength, and isokinetic maximum torque (angular velocity of 60º/s wrist movements) were conducted before and after six weeks of resistance training and after every two-week interval of training. The wrist training group showed significant decreases in isometric torque control error in all six directions after the 2-week resistance training, while the control group did not show significant increase or decrease. The training group showed significant increases in the maximum strength in all six directions assessed by 1-RM strength and isokinetic strength tests after the 4-week resistance training, while the control group did not show any statistically significant changes. This study shows that motor control ability significantly improves within the first two weeks of resistance training, while the wrist strength significantly improves within the first four weeks of resistance training in wrist training group compared to the control.

Effect of Wrist Resistance Training on Motor Control and Strength in Young Males

Kim, You-Sin,Kim, Dae-Hoon Korean Society of Sport Biomechanics 2014 한국운동역학회지 Vol.24 No.3

The aim of the present study was to investigate the effects of 6-week wrist resistance training on wrist torque control. Nineteen subjects were randomly assigned to either the wrist training group (n=9) or the control group (n=10). The training group performed wrist exercises for six directions (flexion, extension, pronation, supination, radial deviation, and ulnar deviation) while the control group did not. Testing for the isometric torque control error, one-repetition maximum (1-RM) strength, and isokinetic maximum torque (angular velocity of $60^{\circ}/s$ wrist movements) were conducted before and after six weeks of resistance training and after every two-week interval of training. The wrist training group showed significant decreases in isometric torque control error in all six directions after the 2-week resistance training, while the control group did not show significant increase or decrease. The training group showed significant increases in the maximum strength in all six directions assessed by 1-RM strength and isokinetic strength tests after the 4-week resistance training, while the control group did not show any statistically significant changes. This study shows that motor control ability significantly improves within the first two weeks of resistance training, while the wrist strength significantly improves within the first four weeks of resistance training in wrist training group compared to the control.

사회기술훈련이 결손가정 아동의 자아존중감, 자기표현 및 자기통제에 미치는 효과

신경년,천성문,이영순,주동범 한국직업교육학회 2010 職業 敎育 硏究 Vol.29 No.4

The purpose of this study was to verify the effects of the social skill training to children under broken families. To reach the goal, 20 children, third and forth elementary school students under broken families were randomly assigned for each 10 into an experimental group and a control group in the study process. The experimental group conducted the social skill training every 60 minutes for 10 times, while the control group did not take any training. To prove effects of developed program, both the experimental group and the control group tested for self-esteem, self-expression, and self-control before and after the program execution. The pretest scores of the experimental group as a covariance were done by analysis of covariance(ANCOVA) with SPSSWIN. The result of verification of the social skill training was as follows. First, children in the experimental group who had taken the social skill training showed higher self-esteem level than the control group. Second, children in the experimental group who has taken the social skill training showed higher self-expression level than the control group. Third, children in the experimental group who has taken social skill training showed higher self-control level than the control group. As a result of the study, the social skill training clarified that it has an effect on improvement in self-esteem, self-expression, and self-control of children. Through positive changes of the experimental group who has taken the social skill training, therefore, children under broken families will have positive self-concept in their own lives, and direct and openhearted self-expression. Besides, they will build a healthy relationship by changing unstable emotion. 본 연구는 결손가정 아동들을 대상으로 사회기술훈련을 실시하고 이 프로그램이 자아존중감, 자기표현 및 자기통제에 미치는 효과를 검증하고자 하였다. 본 연구에서는 부산광역시 B초등학교 3~4학년의 결손가정 아동 20명을 실험집단과 통제집단에 각각 10명씩 무선할당 한 후 10일간에 걸쳐 실험을 실시하였다. 실험집단은 매 회기 60분씩 총 10회기에 걸쳐 사회기술훈련 프로그램을 실시하였고, 통제집단은 이 기간 동안 아무 처치도 가하지 않았다. 실험집단과 통제집단을 대상으로 프로그램 실시 전과 실시 후에 자아존중감 검사, 자기표현 검사, 자기통제 검사를 실시하였다. 공변량분석(ANCOVA)을 실시한 결과 사회기술훈련에 참여한 실험집단의 피험자들은 프로그램에 참여하지 않은 통제집단의 피험자에 비해 자아존중감 수준, 자기표현 수준, 그리고 자기통제 수준이 유의미하게 증가하였다. 따라서 본 사회기술훈련은 결손가정 아동의 적극적인 자기표현과 문제해결력을 향상시킴으로써 실제 장면에서 또래 간 문제해결을 위한 효과성을 시사한다. 마지막으로 본 연구의 의의, 제한점 및 후속연구를 위한 시사점이 논의되었다.

열차자율주행제어 성능분석을 위한 SITL기반 시뮬레이터의 설계

황종규,채성윤,최현영,정락교 대한전기학회 2022 전기학회논문지 P Vol.71 No.4

Train control technology is being developed from ground-centered control to vehicle-centered control technology and new train control technology by direct communication between trains is being researched at home and abroad according to the recent development of communication technology. In the development of these new train control technology it is necessary to analyze performance on new technology through simulated driving on same virtual railway tracks or routes and comparative performance between the existing train control and new developed technology. This requires software-based virtual tracks for various comparative performance analysis of train control technology through the application of existing signaling systems as well as new technology like autonomous train driving technology. For these reason SITL-based train control simulator structure was proposed and a prototype of virtual operating track editor among of proposed simulator was developed. The proposed simulator in this paper is expected to be very useful in the development of new train control technology like autonomous driving control.

대학교 무용전공 학생들의 자기통제 불안관리훈련 효과

이정연 ( Jeong Yeon Lee ) 대한무용학회 2007 대한무용학회논문집 Vol.52 No.-

The purpose of this study was to examine the effects of a self-control anxiety management training program for college students majoring in dance. A total of 7 college dancers who are relatively low in a cognitive, somatic anxiety level and high in a state confidence level participated in this study. For anxiety management training program, adopted group training programs of Suinn and Richardson(1971). The main findings of this study were as follows. 1. CSAI-2 There were significant mean differences in the cognitive, somatic anxiety and the state confidence factor among four periods(before anxiety management training, after anxiety management training, after the 4th-weeks and 8th-weeks self-control training). It appeared that after the training more improved than the before training. 2. Stress Hormone There were significant mean differences in the ACTH, Cortisol, Epinephrine among four periods(before anxiety management training, after anxiety management training, after the 4th-weeks and 8th-weeks self-control training). It appeared that after the training more reduced than the before training.

상대제동 모델 기반 이동폐색 열차제어시스템

오세찬,김영주 한국산학기술학회 2022 한국산학기술학회논문지 Vol.23 No.9

Currently, the most advanced train control system, the moving block train control system, uses communication between onboard and wayside to track the train position and has high transport efficiency. However, it uses an absolute braking model with only the train location information, so there is a limit to improving the transport capacity. This paper proposes a relative braking model and a new movement authority structure to improve the interval control performance. The proposed model can shorten the interval by using the speed information of the preceding train to calculate the braking distance of the following train. The new movement authority consists of distance and speed information and is generated by the train. To enable relative braking, the position report and movement authority packet structure of the domestic standard (KRS SG 0069) is proposed for the movement-obstructed train control system. The interval control performance of the proposed method was compared with that of the existing system. The simulation results show that the minimum safe braking distance is improved by up to 30% based on an urban railway. It is expected that the proposed model will be utilized in the moving block train control system and standards in the future. 현재 가장 진보된 열차제어시스템인 이동폐색 열차제어시스템은 차·지상 간 무선통신을 이용하여 실시간 위치 추적이 가능하며 높은 수송효율을 가진다. 그러나 현재의 이동폐색 열차제어시스템은 열차의 위치정보만을 이용한 절대 제동모델을 이용하기 때문에 수송력 향상에 한계가 존재한다. 본 논문은 이동폐색 열차제어시스템의 간격제어 성능 향상을 위해 상대제동 모델과 새로운 이동권한 구조를 제시한다. 제안된 상대제동 모델은 선행 열차의 속도정보를 후행 열차가 자신의 제동거리 계산에 이용함으로써 간격을 단축할 수 있다. 새로운 이동권한은 거리와 속도정보로 구성되며 열차가 생성한다. 상대제동이 가능하도록 이동폐색 열차제어시스템의 국내 표준규격(KRS SG 0069)의 위치보고 및 이동권한 패킷구조를 새롭게 제시한다. 상대제동 모델의 성능 분석을 위해 제안된 상대제동 모델 기반 이동폐색 열차제어시스템의 간격제어 성능과 기존 절대 제동모델 기반 이동폐색 열차제어시스템의 간격제어 성능을 비교한다. 시뮬레이션 결과를 통해, 열차제어시스템의 성능을 나타내는 최소 안전 제동거리가 도시철도 기준으로 최대 30% 향상됨을 확인할 수 있다. 본 논문에서 제안된 상대제동 모델은 향후 이동폐색 열차제어시스템 및 표준에 반영하여 활용할 수 있을 것으로 기대된다.

Optimal Speed Tracking of Freight Trains Combined with Segmented Soft-Switching Control

Yi Lingzhi,Yi Yu,Wang Yahui,Xie Cheng 대한전기학회 2024 Journal of Electrical Engineering & Technology Vol.19 No.1

Smoothness of travel speed and stopping accuracy are important for freight trains. However, due to the large mass of freight trains, their driving speed is easy to jitter at the operating condition switching point. For these purposes, this paper designs a Dual Mode Optimal Control (DMOC) for tracking the target travel speed of freight trains. This controller contains two sub-controllers, Adaptive Model Predictive Control (AMPC) and Preview control (PC). An Elman Neural Network (ENN) is incorporated in AMPC to adjust the control weights of MPC in real time to output the optimal driving speed. The Afnity propagation-Fast-minimum covariance determinant algorithm, combined in ENN identifes the noisy samples in the training samples and improves the ftting efect of the network. PC and AMPC are fused together by a soft-switching control method. The soft switching control method based on Tanh function can achieve smooth switching of controllers and obtain a good control efect. By comparing with active disturbance rejection control and fuzzy proportional-integral-derivative under two speed profles, DMOC can efectively reduce the speed jitter of speed tracking, improve the stopping accuracy and timeliness of freight trains, and reduce energy consumption.

심리기술훈련은 선수들의 뇌를 어떻게 변화시키나? 생리조절, 인지조절 훈련이 스트레스 상황 대처에 미치는 차별적 효과

이건영,우민정,김유진 한국스포츠심리학회 2020 한국스포츠심리학회지 Vol.31 No.1

Purpose: The mechanism in which different types of psychological skills training affect the psychological and motivational systems of athletes in stressful competitive situations was examined using a neurophysiological approach. Methods: Thirty college soccer male players were randomly divided into a physiological training group (8), cognitive training group (8), and control group (14). A psychological skills training program of three group training sessions and three individual counseling sessions for six weeks was conducted. The participants’ psychological states and Frontal EEG Asymmetry Score(FAS) were measured in stress conditions; pre-post values were compared. Results: Anxiety and stress measured in the stress conditions decreased after the training in both training groups; no difference was observed in the control group. Analysis of frontal asymmetry revealed that the FAS of the physiological training group decreased in the negative (−) direction due to reduced Fp2 activation, while the FAS of the cognitive training group increased in the positive (+) direction resulting from decreased Fp2 activation after training. To induce ideal psychological states in a stress situation, the physiological training group activated the withdrawal motivational system to avoid the stress situation. Rather, the cognitive training group employed more active coping strategy by reducing the withdrawal motivational system. Conclusion: While physiological training appears to induce the withdrawal motivation system so as to avoid stressful situations, cognitive training employs a more active approach by reducing withdrawal motivation.